Are there any good spots to see the Blue Ridge Mountain and Shenandoah park without driving thru the park?

I will be in Washington DC and Virginia for about 5 days. I plan to drive around in Virginia. Due to the limited time, I like to see the Blue ridge mountains and also Shenandoah Park for a day or so. is there any place I can view without driving on the skyline road? can I see these from I81?